If a plant's not going to a show, and is only for my enjoyment I don't stake unless the fans are knocking the spike around too much.
If I am planning to show a plant, and want it to have that picturesque look, I stick the stake in the pot at the first sign of a spike, right behind the growth if possible so the spike grows straight up it. I use floral tape, wrapped very gently around the spike and stake, leaving a bit of wobble room so the spike doesn't get hung up as it grows. Every couple days the spike has grown up more and starts to lean, and it gets tied back to the stake. It can look funny having 100 tie points on a stake, but when finished you take all but one or two off and have a perfect spike with blooms oriented perfectly on it. Another VERY important thing to do while staking is DO NOT MOVE THE PLANT, not even turn it an inch! This will make the spike and blooms re-orient towards a different spot, thus making all your work in vain.
Compare the results in these Gemstone's Randchilds(two pieces of the same clone 'Mary Cox'):
Staked from first sign of spiking
Au Natural (stake only used to hold the spike up for the photo)
Jon